Maintenance Manual for Collaborative Robot
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English
  • Maintenance Manual for Collaborative Robot
  • About this manual
    • Copyright
    • Notation rules
    • Safety precautions
  • 1. Safety
    • 1.1 Safety requirements
      • 1.1.1 Applicable standards
      • 1.1.2 Safety performance
    • 1.2 Safety measures
      • 1.2.1 Safety functions
      • 1.2.2 Safety training
      • 1.2.3 Safety labels
      • 1.2.4 Emergency stop
        • 1.2.4.1 Emergency stop switches
        • 1.2.4.2 Connecting to emergency stop devices of external systems
    • 1.3 Risk assement
    • 1.4 Potential risk
    • 1.5 Validity and responsibilities
  • 2. Introduction to the product
    • 2.1 Intended uses of the product
    • 2.2 Product components
    • 2.3 Part names
      • 2.3.1 Manipulator
      • 2.3.2 Controller
      • 2.3.3 Teach pendant
    • 2.4 Nameplate
  • 3. Product installation
    • 3.1 Environment of installation and preparation
      • 3.1.1 Environments of installation and use
      • 3.1.2 Spaces of the robot system
      • 3.1.3 Allowable limit of wrist axis load
      • 3.1.4 Payload
    • 3.2 Product installation
      • 3.2.1 Composition of robot systems
      • 3.2.2 Robot and controller installation
        • 3.2.2.1 Mounting plate installation
      • 3.2.3 Tool connection
      • 3.2.4 Wiring
      • 3.2.5 Power on
    • 3.3 Robot interface
      • 3.3.1 Tool flange connection point
        • 3.3.1.1 T4071017041-001 (TE) pin map
        • 3.3.1.2 T41171130012-001 (TE) pin map
        • 3.3.1.3 Air hose
      • 3.3.2 External device interface
        • 3.3.2.1 Terminal block (TB1): common analog I/O signals
        • 3.3.2.2 Terminal block (TB2): dedicated safety signal input
        • 3.3.2.3 Terminal block (TB3): system signal I/O
        • 3.3.2.4 D-sub 25-pin connector (SDIO): common digital I/O
        • 3.3.2.5 D-sub 9-pin connector (COM1, COM2): serial communication (RS485, 422)
    • 3.4 Stopping distance and time
      • 3.4.1 STOP 0
      • 3.4.2 STOP1
    • 3.5 Safety setting
    • 3.6 Programming and restarting
    • 3.7 Axis limiting devices
    • 3.8 Movement without drive power
    • 3.9 Other safety precautions
  • 4. Maintenance
    • 4.1 Checking of the collaborative robot
      • 4.1.1 Check sheet
      • 4.1.2 Wiring check
      • 4.1.3 Bolt check
    • 4.2 Maintenance of the collaborative robot
      • 4.2.1 Replacement of internal wiring
      • 4.2.2 Replacement of the integrated driving module
        • 4.2.2.1 Replacement timing
        • 4.2.2.2 Weight of the integrated driving module
        • 4.2.2.3 Tools and parts
        • 4.2.2.4 Recommended posture in disassembling the integrated driving module
        • 4.2.2.5 Method for replacing the integrated driving module
      • 4.2.3 Encoder backup battery replacement
      • 4.2.4 Grease replacement
    • 4.3 Controller check and maintenance
      • 4.3.1 Internal structure
      • 4.3.2 Safety control module
        • 4.3.2.1 Connection and display
        • 4.3.2.2 Connection of I/O signals for the robot system (TBSYS1)
        • 4.3.2.3 Safety I/O signal connection (TBSDI, TBSDO)
        • 4.3.2.4 Connection of common digital I/O signals (TBDIO)
        • 4.3.2.5 Connection of common digital I/O signals (TBAIO)
        • 4.3.2.6 Information on major components
      • 4.3.3 Power precharge module (PPM)
        • 4.3.3.1 Connection and display
        • 4.3.3.2 Information on major components
      • 4.3.4 Regenerative discharge module (RDM)
        • 4.3.4.1 Connection and display
        • 4.3.4.2 Information on major components
      • 4.3.5 Microcomputer module
      • 4.3.6 Power supply
      • 4.3.7 Teach pendant
      • 4.3.8 PCI communication card (optional)
        • 4.3.8.1 Connect pin map
  • 5. Moving and storing
    • 5.1 Moving method
      • 5.1.1 Recommended posture
      • 5.1.2 Packaging box
      • 5.1.3 Cautions
    • 5.2 Storing method
    • 5.3 Disposal
  • 6. Appendix
    • 6.1 Block diagrams
      • 6.1.1 YL012 S-axis
      • 6.1.2 YL012 H-axis
      • 6.1.3 YL012 V-axis
      • 6.1.4 YL012 R-axis
      • 6.1.5 YL012 B-axis
      • 6.1.6 YL012 R1-axis
      • 6.1.7 YL012 tool flange
      • 6.1.8 Power connector
    • 6.2 System specifications
      • 6.2.1 Collaborative robot
      • 6.2.2 Controller
      • 6.2.3 Teach pendant
  • Certifications
  • Attachment
    • Rules on Occupational Safety and Health Standards, and Notice for Safety Inspection
  • Quality Assurance
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  1. 4. Maintenance
  2. 4.3 Controller check and maintenance

4.3.8 PCI communication card (optional)

Previous4.3.7 Teach pendantNext4.3.8.1 Connect pin map

Last updated 3 years ago

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The peripheral component interconnect (PCI) communication installed in the collaborative robot controller enables industrial communication. This section describes the models, composition, and functions of a PCI communication card for Ethernet, which is a general model. For more details, see Hilscher’s “PC Cards CIFX 50 Model” (PC Cards CIFX 50 50E 70E 100EH UM 51 EN).

The names and functions of the PCI communication card models are as follows:

No

Name

　　　　Description

Rotary switch

This sets communication channels according to slot numbers. According to the position of the MiniH6COM PCI slot, set the rotary switch at 1 to 2 from the top

LED lamp

  • SYS: This displays the system state.

    • Green: The system is in normal operation.

    • Yellow: The system is waiting for the boot loader.

  • COM0, COM1: These display the communication states.

    • Green: The communication is in normal operation.

    • Red: A communication error has occurred.

Communication connection terminal

This enables communication with external devices through a communication cable.

PCI bus

This, which is a bus for PC communication, enables communication with external PCs.

Model name

　　　　　Description

　　　Connector

CIFX 50-RE/ML-HRC

HRC Real-Time Ethernet Master PCI

RJ45 Socket

CIFX 50-RE-HRC

HRC Real-Time Ethernet Slave PCI

RJ45 Socket

CIFX 50E-RE/ML-HRC

HRC Real-Time Ethernet Master PCIe

RJ45 Socket

CIFX 50E-RE-HRC

HRC Real-Time Ethernet Slave PCIe

RJ45 Socket

CIFX 50-CC-HRC

CC-Link Slave PCI

CombiCon Male Connector, 5 pin

CIFX 50E-CC-HRC

CC-Link Slave PCIe

CombiCon Male Connector, 5 pin

CIFX 50-DN/ML-HRC

DeviceNet Maser PCI

CombiCon Male Connector, 5 pin

CIFX 50-DN-HRC

DeviceNet Slave PCI

CombiCon Male Connector, 5 pin

CIFX 50E-DN/ML-HRC

DeviceNet Maser PCIe

CombiCon Male Connector, 5 pin

CIFX 50E-DN-HRC

DeviceNet Slave PCIe

CombiCon Male Connector, 5 pin

CIFX 50-DP/ML-HRC

PROFIBUS Master PCI

Dsub female connector, 9 pin

CIFX 50-DP-HRC

PROFIBUS Slave PCI

Dsub female connector, 9 pin

CIFX 50E-DP/ML-HRC

PROFIBUS Master PCIe

Dsub female connector, 9 pin

CIFX 50E-DP-HRC

PROFIBUS Slave PCIe

Dsub female connector, 9 pin

CIFX 50E-CCIES-HRC

CC-Link IE Fileld PCIe

RJ45 Socket

Figure 45 Outside view (left) and front view (right) of PCI communication card
Figure 46 PCI communication card models
Adobe Systems
Adobe Systems
Adobe Systems
Adobe Systems